Numbers 31:8

They killed the kings of Midian with the rest of the fallen: Evi, Rekem, Tzur, Chur and Reva, the five kings of Midian; they also slew Balaam the son of Beor with the sword.

In Talmud Sanhedrin 106b, a heretic asked Rabbi Chanina how long Balaam lived. Rabbi Chaninah replied, “I haven’t seen anything specific on the matter but since Psalms 55:24 says that bloodthirsty and deceitful people will not live out even half their days, I would guess that he was 33 or 34.” The heretic replied, “That’s right! The chronicles of Balaam say that he was 33 when he was killed by Pinchas.”